Size mismatch when i am using simulink
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Greetings all, i am currently using simulink to do a project, however when i run the model i get this errors
1.Simulink does not have enough information to determine output sizes for this block. If you think the errors below are inaccurate, try specifying types for the block inputs and/or sizes for the block outputs.
Component:MATLAB Function | Category:Coder error
2.Size mismatch (size [1 x 3] ~= size [3 x 3]). The size to the left is the size of the left-hand side of the assignment. More informationFunction 'MATLAB Function1' (#81.979.988), line 52, column 1: "param_vec" Launch diagnostic report.
Component:MATLAB Function | Category:Coder error
3.Function call failed. Function 'MATLAB Function1' (#81.79.119), line 12, column 5: "compute_inv(x, y ,z, l1, l2,l3, epsilon)" Launch diagnostic report.
Component:MATLAB Function | Category:Coder error
Component:MATLAB Function | Category:Coder error
5.Simulink cannot determine sizes and/or types of the outputs for block 'Robot_Arm/MATLAB Function1' due to errors in the block body, or limitations of the underlying analysis. The errors might be inaccurate. Fix the indicated errors, or explicitly specify sizes and/or types for all block outputs.
Component:MATLAB Function | Category:Coder error
6.Simulink cannot determine sizes and/or types of the outputs for block 'Robot_Arm/MATLAB Function1' due to errors in the block body, or limitations of the underlying analysis. The errors might be inaccurate. Fix the indicated errors, or explicitly specify sizes and/or types for all block outputs.
Component:Simulink | Category:Model error
7.Error in port widths or dimensions. 'Output Port 1' of 'Robot_Arm/MATLAB Function1/z' is a one dimensional vector with 1 elements.
function [t1,t2,t3] = fcn(x,y,z)
l1=0.1;
l2= 0.1;
l3=0.045;
epsilon = 0.001;
t = compute_inv(x, y ,z, l1, l2,l3, epsilon) ;
t1=t(1);
t2=t(2);
t3=t(3);
end
function f =roots_fn_inv(x,y,z,t1,t2,t3,l1,l2,l3);
f = [l1*cos(t1)*(cos(t2+t3)+cos(t2))-x;
l2*sin(t1)*(cos(t2+t3)+cos(t2))-y;
l1*sin(t2+t3)+l1*sin(t2)+l3-z;];
end
function f_dash = drev_roots_fn_inv(t1,t2,t3,l1,l2,l3);
f_dash = [-(sin(t1)*(cos(t2+t3)+cos(t2)))/10 -(cos(t1)*(sin(t2 + t3)+sin(t2)))/10 -(sin(t2 + t3)*cos(t1))/10;
(cos(t1)*(cos(t2+t3)+cos(t2)))/10 -(sin(t1)*(sin(t2 + t3)+sin(t2)))/10 -(sin(t2 + t3)*sin(t1))/10;
0 cos(t2+t3)/10+cos(t2)/10 cos(t2+t3)/10;]
end
function param_vec = compute_inv (x, y, z, l1, l2 ,l3, epsilon);
t1=pi/2;
t2=pi/2;
t3=pi/2;
readings_t1=t1;
readings_t2=t2;
readings_t3=t3;
param_vec=[t1,t2,t3];
F_n=roots_fn_inv(x,y,z,t1,t2,t3,l1,l2,l3);
n=1;
while norm(F_n) > epsilon
F_n_dash=drev_roots_fn_inv(t1, t2,t3,l1,l2,l3) ;
param_vec = param_vec - F_n_dash\F_n;
t1=param_vec(1) ;
t2=param_vec (2);
t3=param_vec (3);
F_n = roots_fn_inv(x,y,z,t1,t2,t3,l1,l2,l3);
n= n+1;
end
end
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Risposta accettata
Sam Chak
il 27 Dic 2023
Hi @alaa
You need to perform a transpose on the param_vec vector as indicated in the code.
x = 0.1;
y = x;
z = y;
[t1, t2, t3] = fcn(x, y, z)
function [t1, t2, t3] = fcn(x, y, z)
l1 = 0.1;
l2 = 0.1;
l3 = 0.045;
epsilon = 0.001;
% call local function 'compute_inv()'
t = compute_inv(x, y ,z, l1, l2,l3, epsilon);
t1 = t(1);
t2 = t(2);
t3 = t(3);
%% compute_inv
function param_vec = compute_inv(x, y, z, l1, l2 ,l3, epsilon);
t1 = pi/2;
t2 = pi/2;
t3 = pi/2;
readings_t1 = t1;
readings_t2 = t2;
readings_t3 = t3;
param_vec = [t1, t2, t3]'; % <-- fix here or make it a column vector
F_n = roots_fn_inv(x, y, z, t1, t2, t3, l1, l2, l3);
n = 1;
while norm(F_n) > epsilon
F_n_dash = drev_roots_fn_inv(t1, t2, t3, l1, l2, l3);
param_vec = param_vec - F_n_dash\F_n;
t1 = param_vec(1);
t2 = param_vec(2);
t3 = param_vec(3);
F_n = roots_fn_inv(x, y, z, t1, t2, t3, l1, l2, l3);
n = n + 1;
end
end
%% roots_fn_inv
function f = roots_fn_inv(x, y, z, t1, t2, t3, l1, l2, l3)
f = [l1*cos(t1)*(cos(t2+t3)+cos(t2))-x;
l2*sin(t1)*(cos(t2+t3)+cos(t2))-y;
l1*sin(t2+t3)+l1*sin(t2)+l3-z];
end
%% drev_roots_fn_inv
function f_dash = drev_roots_fn_inv(t1, t2, t3, l1, l2, l3)
f_dash = [-(sin(t1)*(cos(t2+t3)+cos(t2)))/10 -(cos(t1)*(sin(t2 + t3)+sin(t2)))/10 -(sin(t2 + t3)*cos(t1))/10;
(cos(t1)*(cos(t2+t3)+cos(t2)))/10 -(sin(t1)*(sin(t2 + t3)+sin(t2)))/10 -(sin(t2 + t3)*sin(t1))/10;
0 cos(t2+t3)/10+cos(t2)/10 cos(t2+t3)/10];
end
end
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